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Wrench-feasible workspace and stiffness characteristics of revolute and antiparallelogram tensegrity joints

Abstract : This technical report details the derivation of the static models of two antagonistically actuated joints: revolute (R) joint and antiparallelogram (X) joint. The wrench-feasible workspace (WFW) and stiffness characteristics of these joints are studied with numerical examples. Based on this study, several templates have been considered for the WFW for these joints. The nature of joint stiffness in each of these templates is characterized in a case-wise manner. Finally, a WFW template that is most suitable for designing these joints is identified.
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https://hal.archives-ouvertes.fr/hal-02957711
Contributor : Vimalesh Muralidharan <>
Submitted on : Wednesday, October 28, 2020 - 3:31:33 PM
Last modification on : Saturday, October 31, 2020 - 3:04:53 AM

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WFW_and_stiffness_examples.pdf
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  • HAL Id : hal-02957711, version 2

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Vimalesh Muralidharan. Wrench-feasible workspace and stiffness characteristics of revolute and antiparallelogram tensegrity joints. [Research Report] LS2N, Université de Nantes; Ecole Centrale de Nantes (ECN). 2020. ⟨hal-02957711v2⟩

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